JP4586433B2 - Shift control device for toroidal type continuously variable transmission - Google Patents

Description

  The present invention relates to a toroidal-type continuously variable transmission that transmits torque between disks via a power roller sandwiched between an input disk and an output disk, and changes the gear ratio by tilting the power roller. In particular, the present invention relates to a device for controlling the shift.

  The toroidal type continuously variable transmission is configured so that a power roller is sandwiched between an input disk and an output disk, and torque is transmitted between the power roller and each disk via traction oil. . Accordingly, since the transmission torque capacity is a capacity corresponding to the pressure acting between the power roller and each disk, the power roller is sandwiched between the disks with a pressure (clamping pressure) corresponding to the input torque.

  On the other hand, in the half-toroidal continuously variable transmission, so-called cavities between the disks are shaped to open outward in the radial direction, so that the power roller does not move outward in the radial direction of the disk due to the clamping force. The power roller is held by the trunnion and the link. Then, the trunnion is moved up and down (or back and forth) in the axial direction of the trunnion shaft, and accordingly, the power roller is removed from the neutral position, and a side slip is generated between the disc and the disc. As a result, the power roller is tilted. As a result, a shift occurs.

  In order to hold the trunnion holding the power roller at a predetermined position in the radial direction of the disk, for example, up and down (or front and back) of a pair of trunnions arranged at positions symmetrical to the rotation center axis of the disk The shafts at both ends are connected by a link member such as a yoke. On the other hand, since the load in the radial direction via the power roller acts on the central portion of the trunnion, the trunnion and the shaft connecting the power roller to the trunnion are deformed such as curved. Since the trunnion is connected to a shaft or a link for moving the trunnion up and down (or back and forth), the shaft and the link are also displaced as the trunnion is deformed. Furthermore, since there is an inevitable play (clearance) between the components, the play is clogged by the action of a load, and relative displacement may occur accordingly.

  The above-described deformation, the operation of the speed change mechanism, or the speed change due to a sensor error is a speed change caused by a mechanism factor and is not a speed change intended based on a drive request or the like, but a speed shift called a torque shift. There is an error factor. The main cause of the torque shift is a tangential force based on the input torque and a clamping pressure for clamping the power roller to set a torque capacity corresponding to the input torque for each gear ratio.

When performing shift control, it is necessary to control the shift in consideration of an error due to the torque shift or a shift in the gear ratio. In doing so, the first-order lag time constant and the dead time are set based on the values before and after the change in the throttle opening related to the input torque. Patent Document 2 describes an invention in which a shift command value is corrected based on an input torque, a gear ratio, and a line pressure, using a torque shift compensation amount that takes into account the positional deviation of the power roller.
Japanese Patent Laid-Open No. 11-351363 Japanese Patent Laid-Open No. 2002-346991

  As described above, since the torque shift acts as an error for the shift control, it is necessary to compensate for this. In the invention of Patent Document 2, the shift command value is corrected by the torque shift compensation amount. In the invention of Document 1, the first-order lag time constant and dead time, which are dynamic characteristics of torque shift, are changed according to the amount of change in the throttle opening corresponding to the amount of change in the input torque. That is, the first-order lag time constant and the dead time are different between a so-called power-on state in which the required drive amount of the vehicle is increased and a so-called power-off state in which the required drive amount is decreased.

  The torque shift is mainly caused by the input torque or the clamping pressure set in relation to it, and the parts constituting the continuously variable transmission are deformed, or the backlash (clearance) between the parts is clogged. It is caused by that. In this case, the backlash (clearance) between the parts is clogged with a relatively small load, and the relative displacement corresponding to the deformation accompanying the clogging is larger than the relative displacement due to the deformation of the part itself. On the other hand, the deformation of the part itself is often caused by the load becoming larger after the backlash (clearance) is clogged, and the relative displacement accompanying the deformation is more than the relative displacement due to the backlash (clearance) stopping. small.

  As described above, the degree or tendency of the torque shift is different between the case where the input torque and the accompanying pressing force by the disk are relatively small and the case where it is relatively large. The primary delay time constant and dead time in the power-on state are kept constant. Therefore, even if the torque shift correction amount (or compensation amount) is appropriate when the input torque is small, it becomes excessive when the input torque is large, or conversely when the input torque is large. Even if correction or compensation is possible, if the input torque is small, the correction or compensation becomes inappropriate, and as a result, hunting may occur in the correction control (torque shift compensation control).

  The present invention has been made paying attention to the above technical problem, and an object of the present invention is to provide a shift control device capable of appropriately performing torque shift compensation according to input torque in a toroidal-type continuously variable transmission. It is what.

In order to achieve the above-mentioned object, the invention of claim 1 is configured such that the power roller sandwiched between a pair of disks is tilted by moving back and forth between the disks to change the gear ratio, And a shift control device for a toroidal-type continuously variable transmission that corrects a displacement of the position of the power roller based on the input torque from a neutral position where no tilting force acts on the power roller. a delay processing unit that performs a process constant for delayed processing by the processing means, the processing constant setting varied depending on the absolute value of the clamping pressure and the entering force torque or its estimate of the power rollers for each gear ratio And a shift control device.

According to a second aspect of the present invention, a power roller is sandwiched between a pair of disks facing each other, and the power roller is moved in a direction parallel to the central axis of each disk on a plane including the rotating surface. The toroidal-type stepless machine that tilts the power roller to change the gear ratio and corrects the displacement of the power roller based on the input torque from the neutral position where the tilting force does not act on the power roller. in the shift control device for a transmission, and delay processing means for performing a delay process for the correction, the processing constant for delayed processing by the processing means, clamping pressure and the entering force torque of the power roller for each gear ratio Alternatively, the shift control device includes processing constant setting means that varies depending on the absolute value of the estimated value.

  Further, in the invention of claim 3, the delay processing means in the invention of claim 1 or 2 is predetermined as the input torque or an estimated value of the input torque for obtaining a correction value for correcting the displacement of the position of the power roller. And a means for applying a predetermined delay process to a correction value for correcting a displacement of the position of the power roller obtained based on the input torque or an estimated value thereof. Is a shift control device.

  Furthermore, the invention of claim 4 is the invention according to any one of claims 1 to 3, wherein the power roller is held automatically and is held back and forth and tilted, and the holding member. The shift control device further includes a stroke sensor that detects a movement amount, detects a position of the power roller, and outputs a detection signal. The back-and-forth movement is a movement to a position where a tilting force acts on the power roller, or a movement in a direction parallel to the central axis of the disk on a plane including the rotation surface of the power roller.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention, the power is adjusted by a correction amount for correcting a displacement of the position of the power roller obtained with a delay process by the delay processing means. The shift control device further includes a correction unit that corrects the amount of movement of the power roller for setting a target tilt angle of the roller.

According to invention of Claim 1 or 2, in order to transmit a torque between a pair of discs, a power roller is pinched | interposed by these discs, a deformation | transformation and a displacement arise in connection with it, and from a neutral position of a power roller, Deviation occurs. A predetermined delay process is executed to correct or compensate for the deviation, and the processing constant used for the delay process includes the clamping pressure of the power roller and the input torque or the absolute value of the estimated value for each gear ratio. It is set to a different value according to. For the control for the setting, for example, a region for the input torque or its estimated value is provided in advance, and the processing constant is set for each region so that the detected or estimated input torque belongs to the region. Corresponding processing constants are adopted. As a result, delay processing appropriately corresponding to deformation and displacement according to the input torque is executed, and correction or compensation accompanying torque shift can be performed without causing hunting or the like.

  According to the invention of claim 3, the delay processing is executed for the input torque or its estimated value, or for the correction value based on the input torque or its estimated value. And delay processing appropriately corresponding to the displacement is executed, and correction or compensation accompanying torque shift can be performed without causing hunting.

  Further, according to the invention of claim 4, the holding member is deformed or displaced by the input torque or the pressing force by the disk, the stroke sensor detects the position of the power roller through the holding member, and outputs the detection signal. Causes a deviation from the neutral position of the power roller detected by the stroke sensor, the deviation of the position is corrected as described above, and the correction appropriately corresponds to the deformation or displacement according to the input torque. Therefore, correction or compensation associated with torque shift can be performed without causing hunting or the like.

  According to the fifth aspect of the present invention, the correction amount for correcting the deviation from the neutral position of the power roller is used as a correction value for the movement amount for setting the target tilt angle. Is appropriately executed to obtain a desired gear ratio.

  Next, the present invention will be described based on specific examples. First, a continuously variable transmission and its hydraulic control system to which the present invention can be applied will be described. FIG. 4 is a sectional view of a half-toroidal continuously variable transmission cut along a plane perpendicular to the central axis of the disk. The vertical direction in FIG. 4 is the vertical direction in use. A pair of power rollers 1 and 2 are arranged on both the left and right sides of the rotating shaft 3 such as an input shaft or an output shaft, and these power rollers 1 and 2 are fitted to the rotating shaft 3 or are loosely fitted. It is sandwiched between the disks 4 on the input side and the output side.

  The power rollers 1 and 2 are held by trunnions 5 and 6, respectively. These trunnions 5 and 6 are for holding the power rollers 1 and 2 so as to be rotatable and tiltable. The trunnions 5 and 6 are provided on both upper and lower sides of the holding portions 7 and 8 having flat surfaces facing the center. 9 and 10 are formed to extend. The upper trunnion shafts 9 and 10 in FIG. 4 are fitted to the upper yoke 11 via bearings, and the lower trunnion shafts 9 and 10 in FIG. 4 are fitted to the lower yoke 12 via bearings. ing. Accordingly, the trunnions 5 and 6 are connected to each other by the yokes 11 and 12 so as to be rotatable about the trunnion shafts 9 and 10, respectively.

  The power rollers 1 and 2 are rotatably held by pivot shafts 13 and 14 attached to the holding portions 7 and 8 of the trunnions 5 and 6, and the power rollers 1 and 2 are connected to the trunnions 5 and 6. Thrust bearings 15 and 16 are interposed therebetween. These trunnions 5, 6 and pivot shafts 13, 14, thrust bearings 15, 16 and the like correspond to the holding member of the present invention.

  The lower trunnion shafts 9 and 10 in FIG. 4 in each trunnion 5 and 6 are connected to pistons 19 and 20 of hydraulic cylinders 17 and 18 provided corresponding to the respective power rollers 1 and 2. These hydraulic cylinders 17 and 18 move one power roller 1 (or 2) upward in FIG. 4 and simultaneously move the other power roller 2 (or 1) downward in FIG. It is configured. For example, the hydraulic chamber above the piston 19 in the left hydraulic cylinder 17 in FIG. 4 is a high oil chamber 17H for shifting to a high speed side with a small gear ratio, and the lower hydraulic chamber opposite to this is shifted. The low oil chamber 17L is used for shifting to a low speed side having a large ratio. In addition, the hydraulic chamber above the piston 20 in the right hydraulic cylinder 18 in FIG. 4 is a low oil chamber 18L for shifting to a low speed side with a large gear ratio, and the lower hydraulic chamber opposite to this is shifted. This is a high oil chamber 18H for shifting to a high speed side with a small ratio. The high oil chambers 17H and 18H and the low oil chambers 17L and 18L communicate with each other.

  A shift control valve 21 is provided for performing a shift by supplying and discharging hydraulic pressure to and from these hydraulic chambers. In the example shown in FIG. 4, a spool valve is employed as the speed change control valve 21, and the spool valve communicates with the high-side port 22 that communicates with the high oil chambers 17H and 18H and the low oil chambers 17L and 18L. A low-side port 23, an input port 24 to which line pressure is input, two drain ports 25 and 26, and a spool 27 that moves in the axial direction and switches the communication state of these ports. The spool 27 closes the input port 24 and the drain ports 25, 26 with respect to both the high-side port 22 and the low-side port 23, and simultaneously connects the input port 24 to the high-side port 22. In the upshift state in which the low-side port 23 communicates with the drain port 26, on the contrary, the low-side port 23 communicates with the input port 24 that is input, and at the same time the high-side port 22 communicates with the drain port 25 and downshifts. It is configured to switch to the state.

  The shift control using the shift control valve 21 is configured to be executed by electrical feedback control. That is, a stroke sensor 28 is provided to detect the position of each power roller 1, 2 as the position or movement amount of the trunnions 5, 6. For example, the stroke sensor 28 is attached to the trunnion shaft 9 (or 10) of one trunnion 5 (or 6), and electrically detects the amount of movement in the axial direction and outputs it as a detection signal. It is configured.

  On the other hand, a control port for applying a signal pressure as an axial pressing force to the spool 27 is formed at one end in the axial direction of the spool valve, and an electromagnetic valve 29 is communicated with the control port. Yes. The electromagnetic valve 29 is a known valve that outputs a signal pressure corresponding to a duty ratio or a current value. In order to return the spool 27 against the signal pressure, a spring (not shown) may be provided on the opposite side of the spool 27 from the control port.

  An electronic control unit (ECU) 30 is provided that outputs a command signal to the electromagnetic valve 29 to execute shift control. The electronic control unit 30 is mainly composed of a microcomputer, and various kinds of signals such as a detection signal from the stroke sensor 28, a vehicle speed signal, a throttle opening signal of an engine (not shown), and a rotation speed signal of each input / output disk. A signal is being input. Then, the electronic control unit 30 performs an operation based on these input signals and prestored data and programs, and outputs a command signal for shifting to the electromagnetic valve 29, and the disk is connected to the power. A command signal for setting a pressing force (clamping pressure) for sandwiching the rollers 1 and 2 is output, and further, the positional deviation of the power rollers 1 and 2 is corrected.

  Note that the toroidal type continuously variable transmission shown in FIG. 4 is also configured to set a torque capacity corresponding to the input torque in order to transmit the input torque. Specifically, a hydraulic actuator (not shown) that presses the disk 4 from the back side so that each disk 4 sandwiches the power rollers 1 and 2 is provided, and a command based on the input torque or its estimated value is provided. The pressing force (clamping pressure) is set by a signal.

  The torque transmission and shift by the toroidal-type continuously variable transmission will be described. When torque is input to the input disk 4 from a power source such as an engine, the power that is in contact with the input disk 4 via traction oil Torque is transmitted to the rollers 1 and 2, and torque is further transmitted from the power rollers 1 and 2 to the output disk 4 via traction oil. In that case, the traction oil undergoes glass transition by being pressurized, and torque is transmitted by the large shearing force associated therewith, so that the pressure corresponding to the input torque is generated between each disk 4 and the power rollers 1 and 2. Pressed.

  Further, since the peripheral speed of the power rollers 1 and 2 and the peripheral speed at the torque transmission point of each disk 4 (the point where the power rollers 1 and 2 are in contact via traction oil) are substantially the same, the power roller The rotation of each disk 4 according to the radius from the rotation center axis of the torque transmission point between the input disk 4 and the rotation center axis of the torque transmission point between the output disk 4 The number (rotational speed) is different, and the ratio of the rotational speed (rotational speed) is the gear ratio.

  The tilting of the power rollers 1 and 2 that sets the transmission ratio in this way is such that the power rollers 1 and 2 are moved back and forth between the disks 4 such as in a direction parallel to the central axis of the disk 4 on a plane including the rotation surface thereof. It is generated by moving (moving up and down in the example of FIG. 4). For example, when the spool 27 is moved in the right direction in FIG. 4 so that the input port 24 communicates with the high port 22 and the low port 23 communicates with the drain port 26, the high oil in each of the hydraulic cylinders 17 and 18 is obtained. Line pressure is supplied to the chambers 17H and 18H, the left power roller 1 in FIG. 4 moves downward, and the right power roller 2 in FIG. 4 moves upward. In other words, the moving direction is a direction parallel to the central axis of each disk 4 on a plane including the rotation surfaces of the power rollers 1 and 2. As a result, a force (side slip force) for tilting the power rollers 1 and 2 is generated between the power rollers 1 and 2 and the disc 4, and the power rollers 1 and 2 tilt. When each of the power rollers 1 and 2 is tilted by a predetermined angle, the side slip force is not generated, and a neutral state is established at the gear ratio. That is, since the power rollers 1 and 2 are tilted according to the stroke amount from the previous neutral position, the gear ratio is set according to the stroke amount.

  The electronic control unit 30 obtains a target tilt angle corresponding to a target gear ratio based on a required drive amount represented by a throttle opening or the like, a vehicle speed, etc., and achieves the target tilt angle. A command signal is output to the electromagnetic valve 29. The target tilt angle can be achieved by causing the power rollers 1 and 2 to stroke with the trunnions 5 and 6, so that the stroke amount of the power rollers 1 and 2 is detected by the stroke sensor 28, and the detected stroke amount and stroke are detected. A command signal (for example, a duty ratio) for the electromagnetic valve 29 is feedback controlled using a deviation from the command amount as a control deviation.

  The stroke amount of the power rollers 1 and 2 is controlled as a distance from a preset reference position, but when torque is transmitted through the power rollers 1 and 2, the tangent line between the power rollers 1 and 2 and the disk 4 The load that pushes the power rollers 1 and 2 outward in the radial direction of the disk 4 is generated by the load in the direction and the pressing force, and the trunnions 5 and 6 and the pivot shafts 13 and 14 are deformed or loose due to these loads. May cause displacement. Due to such deformation or displacement, the relative position between the stroke sensor 28 and the trunnion 6 changes, and as a result, a deviation occurs between the actual position of the power rollers 1 and 2 and the position detected by the stroke sensor 28. A shift signal is output so as to correct such a shift, and the shift is called a torque shift. Since this torque shift is an unintended shift and is preferably corrected, the control device of the present invention is configured to perform torque shift compensation (or correction) as described below.

  FIG. 1 is a block diagram for explaining an example thereof, and includes an input torque estimating means 40 for obtaining an input torque input to the toroidal type continuously variable transmission. When the above-mentioned continuously variable transmission is mounted on a vehicle that uses an internal combustion engine as a power source, a map is used based on the load factor (or the amount of intake air per rotation) of the internal combustion engine and the rotational speed. Can be sought. In addition, you may obtain | require directly using a torque sensor, and when torque conversion mechanisms, such as a torque converter, are arrange | positioned between a power source and a continuously variable transmission, the conversion rate (torque amplification factor) Therefore, the input torque is determined in consideration of the above.

  Means 41 for determining the determined input torque region is provided. This region determination means that the input torque or its estimated value is large enough to cause a deviation from the neutral position of the power rollers 1 and 2 due to clogging (clearance), or by deformation of the component parts. It is to determine whether the size is large enough to cause the positional deviation.

  FIG. 2 is a diagram schematically showing the relationship between the amount of deviation from the neutral position X0 where the tilting force does not act on the power rollers 1 and 2 and the input torque Tin, and the input torque Tin gradually increases to a predetermined value T1. The change amount gradient of the deviation amount is large until the value reaches, and when the input torque Tin increases beyond the predetermined value T1, the change amount gradient of the deviation amount becomes relatively small. This is because, in a state where the input torque Tin is small, the play (clearance) inevitably existing between the components is clogged rather than the deformation of the components such as the trunnions 5 and 6, and the relative to the stroke sensor 28. This is probably because, after a large displacement or substantial deformation occurs and the backlash is clogged, the components are deformed and a relative displacement or deformation with respect to the stroke sensor 28 appears. Thus, since the deviation in the state where the input torque Tin is small becomes larger than when the input torque Tin is large, the input torque region determining means 41 determines the region of the input torque from, for example, FIG. 2 or a map based thereon. Then, the processing constant of the delay processing corresponding to each region (that is, input torque) is set. In particular, in the present invention, constants having different magnitudes are switched and employed depending on the magnitude of the absolute value of the input torque.

  Further, gear ratio calculation means 42 is provided. This is for calculating the actual gear ratio, and therefore, the gear ratio is calculated as the ratio between the detected rotational speed of the input disk 4 and the rotational speed of the output disk 4.

  As described above, the shift or displacement of the positions of the power rollers 1 and 2 due to deformation called a torque shift or relative position fluctuation depends on the input torque and the pressing force (clamping pressure) for each gear ratio. Therefore, in addition to the estimation of the input torque and the calculation of the gear ratio, the pressing force is obtained, and the pressing force calculation means 43 is provided for this purpose. For example, the pressing force calculating means 43 first obtains the maximum friction coefficient between the disk 4 and the power rollers 1 and 2 based on the oil temperature, the rotational speed, etc., and calculates the maximum friction coefficient, the input torque, and the speed change. The pressing force (clamping pressure) is calculated from the map based on the ratio.

  Further, a correction value calculation means 44 is provided. This correction value is for correcting a deviation between the actual position of the power rollers 1 and 2 and the position detected by the stroke sensor 28. More specifically, the correction value is from a neutral position where no side slip occurs. This is for correcting the displacement of the power rollers 1 and 2, and is configured to calculate the displacement based on the input torque or its estimated value, the transmission gear ratio, and the pressing force. The calculation may be performed by substituting the numerical values described above into an arithmetic expression prepared in advance, but the relationship between the data may be prepared in advance as a map and obtained from the map.

  Means is provided for delaying the correction value thus obtained. This delay process is a process called a smoothing process, a first-order lag process, or a filter process. In the example shown in FIG. 1, a first-order lag processing means 45 is provided. The time constant (that is, the processing constant) used in the first-order lag process is a constant set according to the absolute value of the input torque by the input torque region determining means 41 described above.

  Then, the corrected correction value is reflected in the shift control by the shift control means 46, and the gear ratio is set. FIG. 3 is a conceptual block diagram of the shift control means 46, and the deviation between the target tilt angle φo corresponding to the target gear ratio and the actual tilt angle φ is obtained. The calculation of the target gear ratio and the tilt angle corresponding to the target gear ratio can be performed in the same way as conventionally performed in the shift control in the toroidal type continuously variable transmission. For example, the required driving force is calculated based on the required driving amount represented by the accelerator opening and the vehicle speed, and the target output is obtained from the required driving force and the vehicle speed, and the target output is achieved with the minimum fuel consumption. The rotational speed of the internal combustion engine is obtained, and the target gear ratio and the target tilt angle φo are obtained so that the input rotational speed of the continuously variable transmission becomes a rotational speed corresponding to the rotational speed of the internal combustion engine.

  The deviation is processed by a predetermined gain K1, and the stroke amount (stroke amount from the neutral point) Xo of the power rollers 1 and 2 is obtained. The deviation between the stroke amount Xo and the actual stroke amount X is subjected to correction processing (addition / subtraction as an example) using the correction value Xz subjected to the first-order lag processing. The stroke amount thus determined is processed by a predetermined gain K2, and a command signal (for example, a duty ratio) is obtained for the electromagnetic valve 29. The shift control valve 21 is operated by the hydraulic pressure output from the electromagnetic valve 29. Then, the continuously variable transmission CVT performs a speed change operation.

  The amount of change in the gear ratio or the amount of change in the tilt angle due to the speed change control includes the correction of the displacement of the position of the power rollers 1 and 2 described above. If a deviation is detected, a shift occurs. That is, the neutral point is corrected. The correction value is obtained through a delay process using a delay process constant set in accordance with the input torque, so the characteristic or degree of torque shift is caused by clogging (clearance). Even if it is caused by deformation of the component parts, it becomes a correction value corresponding to each characteristic or degree, and as a result, torque shift correction (compensation) without excess or deficiency can be performed. That is, a desired gear ratio can be obtained by performing appropriate correction or compensation according to the torque shift. Further, it is possible to suppress or avoid shift delay and overshoot.

  In this case, the input torque or its estimated value is immediately reflected in the control of the pressing force, and the pressing force according to the input torque is set, so that slippage in the continuously variable transmission is avoided. On the other hand, the correction value is subjected to a delay process according to the input torque or its estimated value, so even if the input torque changes due to a shift caused by the correction of the neutral point position, Since the correction value is not immediately affected, even if control based on the input torque is performed during so-called torque shift compensation for correcting the positional deviation of the power rollers 1 and 2, it is avoided that hunting occurs in the control. Or suppressed.

  Here, the relationship between the above specific example and the present invention will be briefly described. The functional means for performing the control by the correction value primary delay processing means 45 shown in FIG. 1 corresponds to the delay processing means of the present invention. The functional means for setting the first-order lag time constant by the input torque region determining means 41 corresponds to the processing constant setting means of the present invention. Further, the functional means for controlling the shift control means 46 of FIG. 1 for performing the shift control using the corrected correction value corresponds to the correcting means of the present invention.

  In the above specific example, the first-order lag processing is performed on the correction value. However, in the present invention, the lag processing may be performed on the input torque or its estimated value instead. . Means for delay processing for the input torque is included in the delay processing means of the present invention.

It is a block diagram for demonstrating one specific example of this invention. FIG. 4 is a diagram schematically showing a relationship between a displacement of a power roller position and an input torque. It is a control block diagram for demonstrating an example of the shift control by the apparatus based on this invention. It is a figure which shows typically the toroidal type continuously variable transmission and hydraulic system which are made into object by this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1, 2 ... Power roller 4 ... Disc 5, 6 ... Trunnion 17, 18 ... Hydraulic cylinder, 21 ... Shift control valve, 28 ... Stroke sensor, 29 ... Solenoid valve, 30 ... Electronic control unit, 40 ... Input torque Estimation means 41... Input torque region determination means 42. Transmission ratio calculation means 43. Pressing force calculation means 44. Correction value calculation means 45. Correction value primary delay processing means 46.

Claims (5)

The power roller sandwiched between a pair of discs is tilted by moving back and forth between the discs to change the transmission ratio, and the power roller from the neutral position where the tilting force does not act on the power rollers. In a shift control device for a toroidal-type continuously variable transmission that corrects a displacement of the position of the power roller based on an input torque,
Delay processing means for performing delay processing for the correction;
The processing constant for delayed processing by the processing unit, and a processing constant setting means for varying in accordance with the absolute value of the clamping pressure and the entering force torque or its estimate of the power rollers for each gear ratio A shift control device for a toroidal type continuously variable transmission. The power roller is sandwiched between a pair of disks facing each other, and the power roller is tilted by moving the power roller in a direction parallel to the central axis of each disk on a plane including the rotation surface. A shift control device for a toroidal continuously variable transmission that changes a gear ratio and corrects a displacement of the position of the power roller based on the input torque from a neutral position where a tilting force does not act on the power roller.
Delay processing means for performing delay processing for the correction;
The processing constant for delayed processing by the processing unit, and a processing constant setting means for varying in accordance with the absolute value of the clamping pressure and the entering force torque or its estimate of the power rollers for each gear ratio A shift control device for a toroidal type continuously variable transmission.   The delay processing means includes means for applying a predetermined delay process to the input torque or an estimated value of the input torque for obtaining a correction value for correcting a displacement of the position of the power roller, and based on the input torque or the estimated value thereof. 3. The toroidal continuously variable transmission according to claim 1, further comprising: a unit that performs a predetermined delay process on the correction value that corrects the displacement of the position of the power roller determined in this way. Shift control device. A holding member for holding the power roller rotatably and holding the power roller so as to move back and forth and tilt;
The toroidal type according to any one of claims 1 to 3, further comprising a stroke sensor that detects a movement amount of the holding member to detect a position of the power roller and outputs a detection signal. A transmission control device for a continuously variable transmission.   Correction for correcting the amount of movement of the power roller for setting a target tilt angle of the power roller based on the amount of correction for correcting the displacement of the position of the power roller obtained with the delay processing by the delay processing means. The shift control device for a toroidal type continuously variable transmission according to any one of claims 1 to 4, further comprising means.

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